#include <FlightController.hpp>

Public Member Functions
bool	connect (const std::string &device, const size_t baudrate=115200, const double &timeout=0.0, const bool print_info=false)
	Connects to a physical flight controller, which includes connecting the internal Client object and querying the flight controller for information necessary to configure the internal state to match the capabiliites of the flight controller.
bool	disconnect ()
	Stops MSP control if active, and disconnects the internal Client object.
	FlightController ()
	FlightController Constructor.
void	generateMSP ()
	Method used to generate the Rc message sent to the flight controller.
std::string	getBoardName () const
	Queries the currently set board name.
const std::map< std::string, size_t > &	getBoxNames () const
	Gets the information collected by the initBoxes() method.
ControlSource	getControlSource ()
	Queries the currently active control source.
FlightMode	getFlightMode () const
	Queries data structure with all flags governing flight mode.
msp::FirmwareVariant	getFwVariant () const
	Queries the currently set firmware variant (Cleanflight, Betaflight, etc.)
int	getProtocolVersion () const
	Queries the currently set protocol (MSPv1 or MSPv2)
std::shared_ptr < msp::client::SubscriptionBase >	getSubscription (const msp::ID &id)
	Get pointer to subscription.
bool	hasAccelerometer () const
	Queries for the presence of an accelerometer.
bool	hasBarometer () const
	Queries for the presence of a barometer.
bool	hasBind () const
	Queries for the presence of the BIND capability.
bool	hasCapability (const msp::msg::Capability &cap) const
	Queries the cached flight controller information to see if a particular capability is present.
bool	hasDynBal () const
	Queries for the presence of the DYNBAL capability.
bool	hasFlap () const
	Queries for the presence of the FLAP capability.
bool	hasGPS () const
	Queries for the presence of a GPS.
bool	hasMagnetometer () const
	Queries for the presence of a magentometer.
bool	hasSensor (const msp::msg::Sensor &sensor) const
	Queries the cached flight controller information to see if a particular sensor is present.
bool	hasSonar () const
	Queries for the presence of a sonar.
bool	hasSubscription (const msp::ID &id) const
	Check if message ID is subscribed.
void	initBoxes ()
	Queries the flight controller for Box (flight mode) information.
bool	isArmed ()
	Queries the flight controller to see if the ARM status is active. Not to be confused with armSet(), which queries whether the flight controller has been instructued to turn on the ARM status.
bool	isConnected () const
	Tests connection to a flight controller.
bool	isStatusActive (const std::string &status_name)
	Queries the flight controller to see if a status is active.
bool	isStatusFailsafe ()
	Queries the flight controller to see if the FAILSAFE status is active.
bool	reboot ()
	Starts message to flight controller signalling that it should reboot. Will result in the serial device disappearing if using a direct USB connection to the board.
bool	saveSettings ()
	Sends message to flight controller to save all settings.
bool	sendMessage (msp::Message &message, const double timeout=0)
	Sends a message to the flight controller.
void	setControlSource (const ControlSource source)
	Sets which instruction source the flight controller should listen to. Also starts periodic MSP control message if MSP is selected.
void	setFlightMode (const FlightMode mode)
	Sets data structure with all flags governing flight mode.
void	setLoggingLevel (const msp::client::LoggingLevel &level)
	Set the verbosity of the output.
bool	setMotors (const std::array< uint16_t, msp::msg::N_MOTOR > &motor_values)
	Directly sets motor values using SetMotor message.
bool	setRc (const uint16_t roll, const uint16_t pitch, const uint16_t yaw, const uint16_t throttle, const uint16_t aux1=1000, const uint16_t aux2=1000, const uint16_t aux3=1000, const uint16_t aux4=1000, const std::vector< uint16_t > auxs=std::vector< uint16_t >())
	Set RC channels in order: roll, pitch, yaw, throttle by using channel mapping.
bool	setRc (const std::vector< uint16_t > channels)
	Set RC channels in raw order as it is interpreted by the FC.
void	setRPYT (std::array< double, 4 > &&rpyt)
	Sets roll, pitch, yaw, and throttle values. They are sent immediately and stored for resending if automatic MSP control is enabled.
template<typename T , typename C , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>
std::shared_ptr < msp::client::SubscriptionBase >	subscribe (void(C::callback)(const T &), C context, const double tp=0.0)
	Register callback function that is called when type is received.
template<typename T , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>
std::shared_ptr < msp::client::SubscriptionBase >	subscribe (const std::function< void(const T &)> &callback, const double tp=0.0)
	Register callback function that is called when type is received.
int	updateFeatures (const std::set< std::string > &add=std::set< std::string >(), const std::set< std::string > &remove=std::set< std::string >())
	Enable and disable features on the FC To apply updates, changes will be written to the EEPROM and the FC will reboot.
	~FlightController ()
	~FlightController Destructor
Private Attributes
std::string	board_name_
std::map< std::string, size_t >	box_name_ids_
std::set< msp::msg::Capability >	capabilities_
std::array< uint8_t, msp::msg::MAX_MAPPABLE_RX_INPUTS >	channel_map_
msp::client::Client	client_
ControlSource	control_source_
FlightMode	flight_mode_
msp::FirmwareVariant	fw_variant_
msp::PeriodicTimer	msp_timer_
std::mutex	msp_updates_mutex
int	msp_version_
std::array< double, 4 >	rpyt_
std::set< msp::msg::Sensor >	sensors_

Detailed Description

Definition at line 13 of file FlightController.hpp.

Constructor & Destructor Documentation

fcu::FlightController::FlightController ( )

FlightController Constructor.

Definition at line 6 of file FlightController.cpp.

fcu::FlightController::~FlightController ( )

~FlightController Destructor

Definition at line 11 of file FlightController.cpp.

Member Function Documentation

bool fcu::FlightController::connect	(	const std::string &	device,
		const size_t	baudrate = `115200`,
		const double &	timeout = `0.0`,
		const bool	print_info = `false`
	)

Connects to a physical flight controller, which includes connecting the internal Client object and querying the flight controller for information necessary to configure the internal state to match the capabiliites of the flight controller.

Parameters:

timeout Timeout passed to each internal operation (seconds)

Returns:: True on success

Definition at line 13 of file FlightController.cpp.

bool fcu::FlightController::disconnect ( )

Stops MSP control if active, and disconnects the internal Client object.

Returns:: True on success

Definition at line 81 of file FlightController.cpp.

void fcu::FlightController::generateMSP ( )

Method used to generate the Rc message sent to the flight controller.

Definition at line 142 of file FlightController.cpp.

std::string fcu::FlightController::getBoardName ( ) const

Queries the currently set board name.

Returns:: std::String of the board name

Definition at line 195 of file FlightController.cpp.

const std::map<std::string, size_t>& fcu::FlightController::getBoxNames ( ) const [inline]

Gets the information collected by the initBoxes() method.

Returns:: Reference to the internal mapping of strings to box IDs

Definition at line 224 of file FlightController.hpp.

ControlSource fcu::FlightController::getControlSource ( )

Queries the currently active control source.

Returns:: ControlSource object matching current control source

Definition at line 123 of file FlightController.cpp.

FlightMode fcu::FlightController::getFlightMode ( ) const

Queries data structure with all flags governing flight mode.

Returns:: FlightMode object matchhing current flight mode flags

Definition at line 97 of file FlightController.cpp.

msp::FirmwareVariant fcu::FlightController::getFwVariant ( ) const

Queries the currently set firmware variant (Cleanflight, Betaflight, etc.)

Returns:: msp::FirmwareVariant enum matching the current firmware

Definition at line 189 of file FlightController.cpp.

int fcu::FlightController::getProtocolVersion ( ) const

Queries the currently set protocol (MSPv1 or MSPv2)

Returns:: integer matching the protocol version

Definition at line 193 of file FlightController.cpp.

std::shared_ptr<msp::client::SubscriptionBase> fcu::FlightController::getSubscription ( const msp::ID & id ) [inline]

Get pointer to subscription.

Parameters:

id	Message ID

Returns:: Pointer to subscription

Definition at line 199 of file FlightController.hpp.

bool fcu::FlightController::hasAccelerometer ( ) const [inline]

Queries for the presence of an accelerometer.

Returns:: True if there is an accelerometer

Definition at line 270 of file FlightController.hpp.

bool fcu::FlightController::hasBarometer ( ) const [inline]

Queries for the presence of a barometer.

Returns:: True if there is a barometer

Definition at line 278 of file FlightController.hpp.

bool fcu::FlightController::hasBind ( ) const [inline]

Queries for the presence of the BIND capability.

Returns:: True if the BIND capaibility is present

Definition at line 241 of file FlightController.hpp.

bool fcu::FlightController::hasCapability ( const msp::msg::Capability & cap ) const [inline]

Queries the cached flight controller information to see if a particular capability is present.

Returns:: True if the sensor is present

Definition at line 233 of file FlightController.hpp.

bool fcu::FlightController::hasDynBal ( ) const [inline]

Queries for the presence of the DYNBAL capability.

Returns:: True if the DYNBAL capaibility is present

Definition at line 247 of file FlightController.hpp.

bool fcu::FlightController::hasFlap ( ) const [inline]

Queries for the presence of the FLAP capability.

Returns:: True if the FLAP capaibility is present

Definition at line 255 of file FlightController.hpp.

bool fcu::FlightController::hasGPS ( ) const [inline]

Queries for the presence of a GPS.

Returns:: True if there is a GPS

Definition at line 292 of file FlightController.hpp.

bool fcu::FlightController::hasMagnetometer ( ) const [inline]

Queries for the presence of a magentometer.

Returns:: True if there is a magentometer

Definition at line 284 of file FlightController.hpp.

bool fcu::FlightController::hasSensor ( const msp::msg::Sensor & sensor ) const [inline]

Queries the cached flight controller information to see if a particular sensor is present.

Returns:: True if the sensor is present

Definition at line 262 of file FlightController.hpp.

bool fcu::FlightController::hasSonar ( ) const [inline]

Queries for the presence of a sonar.

Returns:: True if there is a sonar

Definition at line 298 of file FlightController.hpp.

bool fcu::FlightController::hasSubscription ( const msp::ID & id ) const [inline]

Check if message ID is subscribed.

Parameters:

id	Message ID

Returns:: True if there is already a subscription

Definition at line 190 of file FlightController.hpp.

void fcu::FlightController::initBoxes ( )

Queries the flight controller for Box (flight mode) information.

Definition at line 197 of file FlightController.cpp.

bool fcu::FlightController::isArmed ( ) [inline]

Queries the flight controller to see if the ARM status is active. Not to be confused with armSet(), which queries whether the flight controller has been instructued to turn on the ARM status.

Returns:: True if the ARM status is active

Definition at line 312 of file FlightController.hpp.

bool fcu::FlightController::isConnected ( ) const

Tests connection to a flight controller.

Returns:: True if connected

Definition at line 83 of file FlightController.cpp.

bool fcu::FlightController::isStatusActive ( const std::string & status_name )

Queries the flight controller to see if a status is active.

Returns:: True if status if active

Definition at line 223 of file FlightController.cpp.

bool fcu::FlightController::isStatusFailsafe ( ) [inline]

Queries the flight controller to see if the FAILSAFE status is active.

Returns:: True if the FAILSAFE status is active

Definition at line 319 of file FlightController.hpp.

bool fcu::FlightController::reboot ( )

Starts message to flight controller signalling that it should reboot. Will result in the serial device disappearing if using a direct USB connection to the board.

Definition at line 184 of file FlightController.cpp.

bool fcu::FlightController::saveSettings ( )

Sends message to flight controller to save all settings.

Definition at line 179 of file FlightController.cpp.

bool fcu::FlightController::sendMessage	(	msp::Message &	message,
		const double	timeout = `0`
	)		`[inline]`

Sends a message to the flight controller.

Parameters:

message	Reference to a Message-derived object
timeout	Number of seconds to wait for response. Default value of 0 means no timeout.

Returns:: True on success

Definition at line 211 of file FlightController.hpp.

void fcu::FlightController::setControlSource ( const ControlSource source )

Sets which instruction source the flight controller should listen to. Also starts periodic MSP control message if MSP is selected.

Parameters:

mode	FlightMode object

Definition at line 99 of file FlightController.cpp.

void fcu::FlightController::setFlightMode ( const FlightMode mode )

Sets data structure with all flags governing flight mode.

Parameters:

mode	FlightMode object

Definition at line 89 of file FlightController.cpp.

void fcu::FlightController::setLoggingLevel ( const msp::client::LoggingLevel & level )

Set the verbosity of the output.

Parameters:

level LoggingLevel matching the desired amount of output (default to WARNING)

Definition at line 85 of file FlightController.cpp.

bool fcu::FlightController::setMotors ( const std::array< uint16_t, msp::msg::N_MOTOR > & motor_values )

Directly sets motor values using SetMotor message.

Returns:: True on successful message delivery

Definition at line 270 of file FlightController.cpp.

bool fcu::FlightController::setRc	(	const uint16_t	roll,
		const uint16_t	pitch,
		const uint16_t	yaw,
		const uint16_t	throttle,
		const uint16_t	aux1 = `1000`,
		const uint16_t	aux2 = `1000`,
		const uint16_t	aux3 = `1000`,
		const uint16_t	aux4 = `1000`,
		const std::vector< uint16_t >	auxs = `std::vector<uint16_t>()`
	)

Set RC channels in order: roll, pitch, yaw, throttle by using channel mapping.

Parameters:

roll
pitch
yaw
throttle
aux1
aux2
aux3
aux4
auxs

Returns:

Definition at line 239 of file FlightController.cpp.

bool fcu::FlightController::setRc ( const std::vector< uint16_t > channels )

Set RC channels in raw order as it is interpreted by the FC.

Parameters:

channels list of channel values (1000-2000)

Returns:

Definition at line 264 of file FlightController.cpp.

void fcu::FlightController::setRPYT ( std::array< double, 4 > && rpyt )

Sets roll, pitch, yaw, and throttle values. They are sent immediately and stored for resending if automatic MSP control is enabled.

Parameters:

rpyt	An array of doubles representing roll, pitch, yaw, and throttle in that order. Values are expected to be in the range -1.0 to +1.0, mapping to 1000us to 2000us pulse widths.

Definition at line 134 of file FlightController.cpp.

template<typename T , typename C , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>

std::shared_ptr<msp::client::SubscriptionBase> fcu::FlightController::subscribe	(	void(C::*)(const T &)	callback,
		C *	context,
		const double	tp = `0.0`
	)		`[inline]`

Register callback function that is called when type is received.

Parameters:

callback	Pointer to callback function (class method)
context	Object with callback method
tp	Period of timer that will send subscribed requests (in seconds), by default this is 0 and requests are not sent periodically

Returns:: Pointer to subscription that is added to internal list

Definition at line 165 of file FlightController.hpp.

template<typename T , class = typename std::enable_if< std::is_base_of<msp::Message, T>::value>::type>

std::shared_ptr<msp::client::SubscriptionBase> fcu::FlightController::subscribe	(	const std::function< void(const T &)> &	callback,
		const double	tp = `0.0`
	)		`[inline]`

Register callback function that is called when type is received.

Parameters:

callback	Function to be called (e.g. lambda, class method, function pointer)
tp	Period of timer that will send subscribed requests (in seconds), by default this is 0 and requests are not sent periodically

Returns:: Pointer to subscription that is added to internal list

Definition at line 180 of file FlightController.hpp.

int fcu::FlightController::updateFeatures	(	const std::set< std::string > &	add = `std::set<std::string>()`,
		const std::set< std::string > &	remove = `std::set<std::string>()`
	)